| 摘要 |
PROBLEM TO BE SOLVED: To provide a welding device which can hardly cause welding accidents when a welding by a robot and one or more device of a positioner and the like is going to be restored after it being temporarily stopped during welding. SOLUTION: A disc shape base material 1a securely mounted on a positioner 3 is welded to a cylindrical member 1b with a torch 2 set on a tip end of a robot 4 by turning the positioner 3 from a welding start point P1 towards a welding end point P2. In this case, after the welding operation is started at the welding start up point P1, if a robot controlling device 5 positioner 3 is stopped temporarily on any reason at a point Pt on the way to the weld ending point P2 from the point P1, a welding reexecution point P5 is obtained at a restart up time at position moved in the point P1 direction on a welding line, for avoiding a welding accident such as an arc cut and the like. The positioner 3 is moved until the torch 2 reaches the weld reexecution point P5, and the welding is reexecuted towards the ending point P2 after the torch 2 was reached the point P5. |
